Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion
(
const dictionary& dict,
const dictionary& stateDict
)
:
motionState_(stateDict),
motionState0_(),
restraints_(),
constraints_(),
tConstraints_(tensor::I),
rConstraints_(tensor::I),
initialCentreOfMass_
(
dict.lookupOrDefault
(
"initialCentreOfMass",
vector(dict.lookup("centreOfMass"))
)
),
initialCentreOfRotation_(initialCentreOfMass_),
initialQ_
(
dict.lookupOrDefault
(
"initialOrientation",
dict.lookupOrDefault("orientation", tensor::I)
)
),
mass_(readScalar(dict.lookup("mass"))),
momentOfInertia_(dict.lookup("momentOfInertia")),
aRelax_(dict.lookupOrDefault<scalar>("accelerationRelaxation", 1.0)),
aDamp_(dict.lookupOrDefault<scalar>("accelerationDamping", 1.0)),
report_(dict.lookupOrDefault<Switch>("report", false)),
solver_(sixDoFSolver::New(dict.subDict("solver"), *this))
{
addRestraints(dict);
// Set constraints and initial centre of rotation
// if different to the centre of mass
addConstraints(dict);
// If the centres of mass and rotation are different ...
vector R(initialCentreOfMass_ - initialCentreOfRotation_);
if (magSqr(R) > VSMALL)
{
// ... correct the moment of inertia tensor using parallel axes theorem
momentOfInertia_ += mass_*diag(I*magSqr(R) - sqr(R));
// ... and if the centre of rotation is not specified for motion state
// update it
if (!stateDict.found("centreOfRotation"))
{
motionState_.centreOfRotation() = initialCentreOfRotation_;
}
}
// Save the old-time motion state
motionState0_ = motionState_;
}
Foam::sixDoFRigidBodyMotion::sixDoFRigidBodyMotion(const dictionary& dict)
:
motionState_(dict),
restraints_(),
restraintNames_(),
constraints_(),
constraintNames_(),
maxConstraintIterations_(0),
initialCentreOfMass_
(
dict.lookupOrDefault("initialCentreOfMass", centreOfMass())
),
initialQ_
(
dict.lookupOrDefault("initialOrientation", Q())
),
momentOfInertia_(dict.lookup("momentOfInertia")),
mass_(readScalar(dict.lookup("mass"))),
cDamp_(dict.lookupOrDefault<scalar>("accelerationDampingCoeff", 0.0)),
aLim_(dict.lookupOrDefault<scalar>("accelerationLimit", VGREAT)),
report_(dict.lookupOrDefault<Switch>("report", false))
{
addRestraints(dict);
addConstraints(dict);
}
